Quantifying force and positional frequency bands in neurosurgical tasks

Abstract

To establish the design requirements for an MR-compatible haptic hand-controller, this paper measures magnitudes and frequency bands of three mechanical motion and interaction components during the performance of neurosurgical tasks on a cadaveric brain. The hand-controller would allow the performance of virtual neurosurgical tasks within the bore of a high field magnet during image acquisition, i.e., functional MRI. The components are the position and the orientation of a surgical tool, and the force interaction between the tool and the brain tissue. A bipolar forceps was retrofitted with a tracking system and a set of force sensing components to measure displacements and forces, respectively. Results showed working positional, rotational, and force frequency bands of 3, 3 and 5 Hz, respectively. Peak forces of 1.4, 2.9 and 3.0 N were measured in the Cartesian coordinate system. A workspace of 50.1 × 39.8 × 58.2 mm(3) and orientation ranges of 40.4°, 60.1° and 63.1° for azimuth, elevation, and roll angles were observed. The results contribute in providing information specific to neurosurgery that can be used to effectively design a compact and customized haptic hand-controller reflecting characteristics of neurosurgical tasks.

Challenges in developing a magnetic resonance–compatible haptic hand-controller for neurosurgical training

“…The results of this study showed working positional, rotational, and force frequency bands of 3 and 5 Hz. 101 The peak forces of 1:4, 2:9, and 3:0 N were measured using Cartesian coordinate system. The coordinate system originally used to measure the signals is illustrated in Figure 5(c).…”

“…The results showed that major frequency contents of different neurosurgical tasks occurred in the frequency range below 5 Hz. 101 Derivation of kinematic and dynamic equations. Once the workspace and force profiles of the HHC are quantified, the kinematic and dynamic models of the device are governed.…”

“…A workspace of x = 50 . 1 mm , y = 39 . 8 mm , and z = 58 . 2 mm and orientation ranges of θ = 40 . 4 ∘ , ϕ = 60 . 1 ∘ , and ψ = 63 . 1 ∘ were measured. 101 Figure 5(a) shows the orientation ranges of the surgical tool during a 30 s time of the performance of surgical tasks on a cadaveric brain. 101 To calculate the frequency band of the tool motion, both force and position signals were sampled at a frequency of 120 Hz .…”

“…101 Figure 5(a) shows the orientation ranges of the surgical tool during a 30 s time of the performance of surgical tasks on a cadaveric brain. 101 To calculate the frequency band of the tool motion, both force and position signals were sampled at a frequency of 120 Hz . To quantify the frequency band of the tool displacement and force, the discrete Fourier transform analysis was employed.…”

“…The results showed that major frequency contents of different neurosurgical tasks occurred in the frequency range below 5 Hz. 101…”